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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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<div class="title">SDK Structure From Motion Documentation </div>  </div>
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<div class="textblock"><h2><a class="anchor" id="Intro"></a>
What's the point?</h2>
 
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 <img alt="Structure from motion" src="http://charlie-soft.com/Structure%20from%20motion/opencvLogoFinal.png" align="left" width="100px"/>
 <p><img alt="Structure from motion" src="http://charlie-soft.com/Structure%20from%20motion/degrad.png"  align="right"/>
 Structure from motion aims to find both cameras and objects position, orientation and shape.<br/>
 As this task is complex and highly depends on videos contents, a fast-robust-accurate technic who works with every types of input is still a dream. This API try to give to user an easy way to try differents algorithms for points detection, matching and of course geometry recovery.<br/>
 So in a long term, you will be able to do, with this API:
 </p>
 <ul>
 <li>Manage one or several cameras (I mean physical device) in a sequence (stereovision, single camera, multivision...).</li>
 <li>Each camera can be of different type (Fisheye, with/without radial distortion, various intra-parameters...).</li>
 <li>Initialize the different processing blocks according to the data availables:
 <ul><li>Camera: Distortion, intra parameters, nothing, ...</li>
     <li>Field of view: Extern position, points of interest, a known 3D pattern to match, 2D images, ...</li>
 </ul></li>
 <li>Compute missing data (intra/extern parameters, 3D points,...)</li>
 <li>Show the points cloud using an interactive visualization</li>
 </ul>

   <h2><a class="anchor" id="Example"></a>
Example</h2>
 

 I made a little video to show current reconstruction progress. This is not really a structure from motion as the cameras are fully parameterized, but it's a start:<br/><br/>
 <iframe width="420" height="345" src="http://www.youtube.com/embed/9M4KWgRGNa0" frameborder="0" allowfullscreen></iframe>
 <br/><br/>
 The dependencies of this API are for now:
 <ul>
 <li> <a href="http://opencv.willowgarage.com">Opencv</a>
 </li><li> <a href="http://pointclouds.org"> PCL (Point Cloud Library)</a>
 </li><li> <a href="http://code.google.com/p/libmv/"> The libmv project</a>
 </li><li> <a href="http://eigen.tuxfamily.org/"> The Eigen library (Needed by PCL and LibMV)</a>
 </li><li> <a href="http://www.boost.org/"> The Boost libraries</a>
 </li><li> <a href="http://www.netlib.org/clapack/"> clapack</a>
 </li><li> <a href="http://www.ics.forth.gr/~lourakis/sba/"> lourakis' sba</a>
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